This makes it more compatible with ROS2. Also minor fixups while we are in here, to cleanup trailing whitespace, include headers where necessary, and remove an unnecessary run/exec dependency on eigen (eigen is a header-only library, so by definition it is only needed at build time).
This makes it more compatible with ROS2. Also minor fixups while we are in here, to cleanup trailing whitespace, include headers where necessary, and remove an unnecessary run/exec dependency on eigen (eigen is a header-only library, so by definition it is only needed at build time).